#include <ros/ros.h>
#include <std_msgs/Header.h>
#include <sensor_msgs/LaserScan.h>

#include <pcl/point_types.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/common/common.h>
#include <pcl/segmentation/extract_clusters.h>

#include <pcl/search/organized.h>
#include <pcl/search/kdtree.h>


#include <pcl_conversions/pcl_conversions.h>
#include <sensor_msgs/PointCloud2.h>

#include <ctime>
#include <chrono>
#include <vector>

class RplidarProcessCore
{
private:
    void Lidar_Callback(const sensor_msgs::LaserScan::ConstPtr &scan );
    ros::Publisher pub_obstacle_;


public:
    RplidarProcessCore(ros::NodeHandle &nh);
    ~RplidarProcessCore();
};
